docs: def m2q(r):
      """
      Find a unit quaternion corresponding to a specified rotation matrix.
  
      http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/m2q_c.html
  
      :param r: A rotation matrix to be factored
      :type r: 3x3-Element Array of floats
      :return: A unit quaternion representing the rotation matrix
      :rtype: 4-Element Array of floats
      """
      r = stypes.toDoubleMatrix(r)
      q = stypes.emptyDoubleVector(4)
      libspice.m2q_c(r, q)
      return stypes.cVectorToPython(q)